ContactConstraint.hpp

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#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
#define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
 
#include "dart/collision/CollisionDetector.hpp"
#include "dart/constraint/ConstraintBase.hpp"
#include "dart/math/MathTypes.hpp"
 
namespace dart {
 
namespace dynamics {
class BodyNode;
class Skeleton;
} // namespace dynamics
 
namespace constraint {
 
class ContactConstraint : public ConstraintBase
{
public:
  ContactConstraint(collision::Contact& contact, double timeStep);
 
  ~ContactConstraint() override = default;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------
 
  static void setErrorAllowance(double allowance);
 
  static double getErrorAllowance();
 
  static void setErrorReductionParameter(double erp);
 
  static double getErrorReductionParameter();
 
  static void setMaxErrorReductionVelocity(double erv);
 
  static double getMaxErrorReductionVelocity();
 
  static void setConstraintForceMixing(double cfm);
 
  static double getConstraintForceMixing();
 
  void setFrictionDirection(const Eigen::Vector3d& dir);
 
  const Eigen::Vector3d& getFrictionDirection1() const;
 
  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------
 
  friend class ConstraintSolver;
  friend class ConstrainedGroup;
 
protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------
 
  // Documentation inherited
  void update() override;
 
  // Documentation inherited
  void getInformation(ConstraintInfo* info) override;
 
  // Documentation inherited
  void applyUnitImpulse(std::size_t index) override;
 
  // Documentation inherited
  void getVelocityChange(double* vel, bool withCfm) override;
 
  // Documentation inherited
  void excite() override;
 
  // Documentation inherited
  void unexcite() override;
 
  // Documentation inherited
  void applyImpulse(double* lambda) override;
 
  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;
 
  // Documentation inherited
  void uniteSkeletons() override;
 
  // Documentation inherited
  bool isActive() const override;
 
  static double computeFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computePrimaryFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondaryFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computePrimarySlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondarySlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static Eigen::Vector3d computeWorldFirstFrictionDir(
      const dynamics::ShapeNode* shapenode);
  static double computeRestitutionCoefficient(
      const dynamics::ShapeNode* shapeNode);
 
private:
  using TangentBasisMatrix = Eigen::Matrix<double, 3, 2>;
 
  void getRelVelocity(double* relVel);
 
  void updateFirstFrictionalDirection();
 
  TangentBasisMatrix getTangentBasisMatrixODE(const Eigen::Vector3d& n);
 
  // The following functions for getting and setting slip compliance and
  // accessing the contact object are meant to be used by ConstraintSolver to
  // update the slip compliances based on the number of contacts between the
  // collision objects.
  //
  double getPrimarySlipCompliance() const;
 
  void setPrimarySlipCompliance(double slip);
 
  double getSecondarySlipCompliance() const;
 
  void setSecondarySlipCompliance(double slip);
 
  const collision::Contact& getContact() const;
 
private:
  double mTimeStep;
 
  dynamics::BodyNode* mBodyNodeA;
 
  dynamics::BodyNode* mBodyNodeB;
 
  collision::Contact& mContact;
 
  Eigen::Vector3d mFirstFrictionalDirection;
 
  double mPrimaryFrictionCoeff;
 
  double mSecondaryFrictionCoeff;
 
  double mPrimarySlipCompliance;
 
  double mSecondarySlipCompliance;
 
  double mRestitutionCoeff;
 
  bool mIsSelfCollision;
 
  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalA;
 
  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalB;
 
  bool mIsFrictionOn;
 
  std::size_t mAppliedImpulseIndex;
 
  bool mIsBounceOn;
 
  bool mActive;
 
  static double mErrorAllowance;
 
  static double mErrorReductionParameter;
 
  static double mMaxErrorReductionVelocity;
 
  static double mConstraintForceMixing;
};
// TODO(JS): Create SelfContactConstraint.
 
} // namespace constraint
} // namespace dart
 
#endif // DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_